تلفیق اطلاعات ژیروسکوپ و مغناطیس‌سنج برای تخمین وضعیت پرتابه‌های با سرعت بالا بر مبنای ترکیب فیلتر ذره‌ای و PSO

نوع مقاله : گرایش دینامیک،ارتعاشات و کنترل

نویسندگان

1 مجتمع برق و کامپیوتر ، دانشگاه صنعتی مالک اشتر، تهران،ایران

2 مجتمع برق و کامپیوتر، دانشگاه مالک اشتر، تهران ایران

چکیده

در این پژوهش، با استفاده از تلفیق خروجی مغناطیس‌سنج‌ها و ژیروسکوپ‌های ارزان قیمت میکرو الکترومکانیکی، وضعیت پرتابه‌های با سرعت بالا با استفاده از فیلتر ذره‌ای ترکیب‌شده با الگوریتم بهینه‌سازی انبوه ذرات تخمین­زده می‌شود. در سرعت‌های بالا ژیروسکوپ‌های ارزان قیمت سامانه‌های میکرو الکترومکانیکی دارای خطای زیادی هستند و مغناطیس‌سنج‌ها نیز به­دلیل وجود میدان‌های مغناطیسی غیر از زمین دقت پایینی دارند. برای حل این مشکلات، تلفیق اطلاعات این دو حسگر برای تخمین وضعیت پیشنهاد می‌شود. به دلیل غیرخطی بودن معادلات دینامیکی و مشاهده باید از تخمین­گر غیرخطی استفاده ‌شود. فیلتر کالمن توسعه‌یافته با صرف‌نظر نمودن از جملات مرتبه بالای بسط تیلور خطایی را وارد محاسبات می‌نماید که این خطا در سامانه‌های غیرخطی سریع قابل صرف‌نظر نیست. فیلتر ذره‌ای برخلاف فیلتر کالمن، برای سامانه‌های غیرخطی نتایج خوبی دارد. بزرگترین ضعف این فیلتر، بار محاسباتی بالای آن است که باعث محدودیت کاربردش گشته است. برای کاهش مدت‌زمان انجام محاسبات فیلتر ذره‌ای از الگوریتم ترکیب‌شده فیلتر ذره‌ای با الگوریتم بهینه‌سازی انبوه ذرات استفاده شده است. نتایج شبیه‌سازی با استفاده از 100 نمونه آزمایش مورد بررسی قرار گرفته است که نشان‌دهنده عملکرد مطلوب این الگوریتم در مسئله تلفیق اطلاعات ژیروسکوپ و مغناطیس‌سنج در تخمین زوایا است.

کلیدواژه‌ها

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